CN110134147A - A kind of autonomous paths planning method and device of plant protection drone - Google Patents
A kind of autonomous paths planning method and device of plant protection drone Download PDFInfo
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- CN110134147A CN110134147A CN201910537488.4A CN201910537488A CN110134147A CN 110134147 A CN110134147 A CN 110134147A CN 201910537488 A CN201910537488 A CN 201910537488A CN 110134147 A CN110134147 A CN 110134147A
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Abstract
The invention belongs to plant protection drone technical fields, more particularly to the autonomous paths planning method and device of a kind of plant protection drone, method includes: A, in the takeoff point of the selected plant protection drone in pre- operating area boundary, B, plant protection boundary flight route is planned, plant protection drone flies according to boundary flight route and obtains the boundary figure area information to operating area, C, the working path according to the job parameter information planning plant protection drone of unmanned plane in the graphics field of boundary.The present invention can fast, accurately and accurately cook up the path of plant protection drone operation, and save labour turnover.
Description
Technical field
The invention belongs to plant protection drone technical fields, and in particular to a kind of autonomous paths planning method of plant protection drone
And device.
Background technique
With the rapid development of science and technology, people are also more and more extensive to the application of unmanned plane, especially in agricultural plant protection side
Face using more and more common, operating speed is fast, area is big, high-efficient, and new visual perception and processing equipment are answered in addition
With so that unmanned plane occupies very big market in terms of agricultural automation.
In the prior art, plant protection drone is usually manipulated by the winged hand of occupation, relies on the visual observation for flying hand to control nothing
Man-machine operating radius, when operating area is larger, parallax is larger, and operation error is larger, and operation quality is poor；Other needs
Operating area is measured in advance, the operating area of measurement is uploaded to earth station, after calculating simulation of the earth station by complexity
Work route is cooked up, unmanned plane execution is then forwarded to, this method usually has the following problems: (1) measuring operation area in advance
Domain, it usually needs artificial to carry out, human error is larger；(2) unmanned plane needs that earth station is waited to plan that working path could work
Make, it is time-consuming and laborious；(3) measurement is carried out with programme path substep, inefficiency.It can be seen that current plant protection drone is autonomous
Programme path method error is larger, and operating efficiency is lower, and intelligent operation degree is bad.
Summary of the invention
In view of this, in view of the deficiencies of the prior art, it is an object of the present invention to provide a kind of plant protection drones from main road
Diameter method and device for planning, can fast, accurately and accurately cook up the path of plant protection drone operation, and save manually at
This.
In order to achieve the above objectives, the invention adopts the following technical scheme:
A kind of autonomous paths planning method of plant protection drone, comprising the following steps:
A, the takeoff point of plant protection drone is selected on pre- operating area boundary；
B, plant protection boundary flight route is planned, plant protection drone is flown according to boundary flight route and obtained to operating area
Boundary figure area information, detailed process is as follows:
B1: determining the unit length L in shooting plot every time according to the image pickup scope of the loaded video camera of plant protection drone, fixed
Adopted plant protection drone i-th section of plot captured by the flight path is plot Ai；
B2: planning plot AiFlight path；Detailed process is as follows:
B2.1: plant protection drone takes off and acquires plot AiPlot image Pi, i=1,2 ..., n；
B2.2: by plot image PiImage division is carried out according to different types of landform, obtains plot image PiIt is corresponding to
Operating area boundary information Qi；
B2.3: it has been flown over obtained by route and step b2.2 according to plant protection drone to operating area boundary information Qi, planning
I+1 section plot Ai+1Pre- flight path；
B2.4: plant protection drone is according to the prepared plot A of step b2.3i+1Pre- flight path fly to i+1 section
Block, and acquire plot Ai+1Plot image Pi+1；
B3: repeating step b2, until plant protection drone returns to takeoff point；
B4: unmanned plane returns to takeoff point, forms border image area: when unmanned plane returns to flight starting point, unmanned plane during flying
The border image area that the one complete enclosed region of path formation crossed, i.e. unmanned plane wait for operation；
C, the working path according to the job parameter information planning plant protection drone of unmanned plane in the graphics field of boundary.
Further, as plot AiWhen for headland turn position, detailed process is as follows by the step b2.3:
1): route having been flown over according to plant protection drone and to operating area boundary information QiPlan a plurality of i+1 section plot
Ai+1Pre- flight path；
2): the image information and a plurality of i+1 section plot A that plant protection drone is acquired in real timei+1Pre- flight path send
To winged hand end；
3): one of i+1 section plot A is selected in winged pickingi+1Pre- flight path be plant protection drone flight path；
4) plant protection drone carries out the flight of i+1 section plot according to the route that step 3) is selected.
Further, the detailed process of the step C are as follows:
C1: plant protection drone flight working width is calculated according to unmanned plane job parameter information using contexture by self algorithm；
Unmanned plane job parameter information includes unmanned plane distance away the ground and unmanned machine operation covering radius；
C2: plant protection drone operation starting point and takeoff heading are determined；The operation starting point is set to on the boundary of operating area,
And take off apart from unmanned plane or back course where frontier distance have half of working width, the course of the work route starting point with
Initial route direction is consistent when unmanned plane acquires boundary；
C3: the snakelike work route figure in the graphics field of boundary is formulated according to plant protection drone flight working width；Institute
It states snakelike work route to be constituted by a plurality of straight line path is end to end, every straight line path and neighbouring straight line path distance are equal to nothing
Man-machine operation's covering radius.
Further, the unmanned plane job parameter information of the step c1 further includes extraneous affecting parameters, and the external world influences ginseng
Number includes wind direction, wind speed and the humidity of operating area.
A kind of autonomous path planning apparatus of plant protection drone, including unmanned plane, further includes:
Flight control computer unit, it is autonomous for handling image capture module boundary information collected, foundation boundary profile
Plan that flight path, contexture by self generates working path and control unmanned plane during flying in borderline region；
Wireless communication module, the operational order or unmanned plane that transmit to unmanned plane for receiving winged hand end and ground control
The information exchange stood；
Image capture module, for acquiring the image information to operation plot and being transmitted to flight control computer unit；
Navigation module, for providing location information for unmanned plane and carrying out information exchange with flight control computer unit；
Measurement module, for measuring unmanned plane elevation information and elevation information being sent to flight control computer unit；
Memory, for storing the boundary of land block information of unmanned plane acquisition and the working path information of planning；
The flight control computer unit, wireless communication module, image capture module, navigation module, measurement module and storage
Device is arranged on unmanned plane.
Further, described image acquisition module uses onboard high-speed CCD camera and image processing apparatus.
Further, the navigation module uses global position system GPS and carrier phase difference technology RTK.
Further, the measurement module uses the radar or ultrasonic meter of measuring height and distance.
The beneficial effects of the present invention are:
1. contexture by self method of the invention passes through plant protection drone autonomous classification operation boundary of land block, Bian Cai before operation
Collect boundary information side contexture by self border path, has acquired after boundary information by the contexture by self algorithm in flight control computer unit
It is autonomously generated working path, fast, high-efficient, whole process is participated in without artificial, makes unmanned plane unknown, dynamic change
It is more convenient, intelligent that task is executed in complex environment, and accuracy greatly improves；
2. the contexture by self device in the present invention has used advanced image collecting device, autonomous extraction side can be realized
Boundary realizes that Boundary Extraction is intelligent, passes through image capture module and navigation module, measurement module, memory and flight control computer
The Intelligent Fusion of unit reaches good contexture by self working path function.
Detailed description of the invention
Fig. 1 is the flow chart of autonomous paths planning method in the present invention；
Fig. 2 is the schematic block circuit diagram of autonomous path planning apparatus in the present invention.
Specific embodiment
The invention will be further described with reference to the accompanying drawings and examples.
As shown in Figure 1, the invention discloses a kind of autonomous paths planning methods of plant protection drone, comprising the following steps:
A, the takeoff point of plant protection drone is selected on pre- operating area boundary；
It selects to be suitable for the place that unmanned plane takes off at one at boundary of land block, or controls to reach after unmanned plane takes off and specify in advance
Operation boundary point is takeoff point, man-machine to automatically record initial route direction, to plan that the working path of unmanned plane is prepared；Fly hand
Control opens and automatically generates path function, and unmanned plane initializes airborne image acquiring device and starts to fly, and prepares shooting operation
The boundary in plot.
Wherein, takeoff point selection facilitates unmanned plane to shoot pre- operation plot in the specified boundary in predetermined operation plot
Boundary image；The boundary in some plot is excessively narrow or uneven, is not suitable for unmanned plane and takes off, and flying hand may be selected preferably
Place operation unmanned plane takes off, and visually flies to open again when specifying above pre- operation boundary and automatically generates path function.
B, plant protection boundary flight route is planned, plant protection drone, which flies according to boundary flight route and obtains side, waits for operation area
The boundary figure area information in domain.
Hand-held control of plant protection drone while according to boundary flight route flight, to flight control computer unit and winged hand
Device returns boundary image and pre-planning flight path in real time.
Detailed process is as follows by step B:
B1: determining the unit length L in shooting plot every time according to the image pickup scope of the loaded video camera of plant protection drone, fixed
Adopted plant protection drone i-th section of plot captured by the flight path is plot Ai。
B2: planning plot AiFlight path；Detailed process is as follows:
B2.1: plant protection drone takes off and acquires plot AiPlot image Pi, i=1,2 ..., n；
B2.2: by plot image PiImage division is carried out according to different types of landform, obtains plot image PiIt is corresponding to
Operating area boundary information Qi；
Unmanned plane flies above pre- operation boundary of land block, and high speed CCD camera obtains boundary of land block image, at image
Reason device processing identifies different types of plot, in the differentiation or same plot such as pre- operation plot and field ridge ridge not
The difference of same crop and crop species, and deliver the information to flight control computer cell processing；
B2.3: it has been flown over obtained by route and step b3 according to plant protection drone to operating area boundary information Qi, planning i-th
+ 1 section of plot Ai+1Pre- flight path；
Flight control computer unit is shown according to the boundary of land block information got from image collecting device by Boundary algorithm
It has flown over route and contexture by self goes out pre- flight path, unmanned plane is made to continue to fly according to the pre- flight path of planning；At nobody
While machine is autonomously generated boundary flight path, the geographic coordinate information on boundary is marked, such as longitude, latitude, and information is stored
Into specified memory；
When unmanned plane flight above the boundary in predetermined operation plot, if in field corner, autonomous path planning side
Method cooks up a plurality of selection path, and flying hand can observe that the flight condition of unmanned plane and route planning are pre- in real time on a display screen
It lookes at, and fly hand when there is a plurality of programme path to help to select correct optimal route, such as executes rectilinear flight or turn
It is curved, continue flight and automatic identification acquisition boundary information along prediction operation boundary of land block；
Specifically, working as plot AiWhen for headland turn position, the process of step b2.3 is as follows:
1): route having been flown over according to plant protection drone and to operating area boundary information QiPlan a plurality of i+1 section plot
Ai+1Pre- flight path；
2): the image information and a plurality of i+1 section plot A that plant protection drone is acquired in real timei+1Pre- flight path send
To winged hand end；
3): one of i+1 section plot A is selected in winged pickingi+1Pre- flight path be plant protection drone flight path；
4) plant protection drone carries out the flight of i+1 section plot according to the route that step 3) is selected；
B2.4: unmanned plane is according to the prepared plot A of step b2.3i+1Pre- flight path fly to i+1 section plot,
And acquire plot Ai+1Plot image Pi+1。
B3: repeating step b2, until plant protection drone returns to takeoff point.
B4: unmanned plane returns to takeoff point, forms border image area: when unmanned plane returns to flight starting point, unmanned plane during flying
The border image area that the one complete enclosed region of path formation crossed, i.e. unmanned plane wait for operation, flies hand in ground display screen
On can watch the region for needing operation.
C, the working path according to the job parameter information planning plant protection drone of unmanned plane in the graphics field of boundary；Tool
Body process are as follows:
C1: plant protection drone flight working width is calculated according to unmanned plane job parameter information using contexture by self algorithm；
Unmanned plane job parameter information includes unmanned plane distance away the ground, unmanned machine operation covering radius and extraneous influence ginseng
Number, extraneous affecting parameters include the wind direction, wind speed and humidity of operating area.
C2: plant protection drone operation starting point and takeoff heading are determined；The operation starting point is set to on the boundary of operating area,
And take off apart from unmanned plane or back course where frontier distance have half of working width, the course of the work route starting point with
Initial route direction is consistent when unmanned plane acquires boundary；
C3: the snakelike work route figure in the graphics field of boundary is formulated according to plant protection drone flight working width；Institute
It states snakelike work route to be constituted by a plurality of straight line path is end to end, every straight line path and neighbouring straight line path distance are equal to nothing
Man-machine operation's covering radius.
Winged hand presses planning working path function, the contexture by self algorithm in flight control computer unit according to unmanned plane over the ground
Height and operation covering radius calculate operation flight width automatically, i.e., snakelike work route is generated in borderline region
Figure.AUTONOMOUS TASK paths planning method starting, it is first determined operation starting point, unmanned plane select operation on the boundary formed
Starting point calls initial route direction when unmanned plane acquisition boundary, work route starting point course and unmanned plane is kept to acquire boundary
When initial route direction it is consistent；Simultaneously according to the relationship between height and operating radius when unmanned machine operation, unmanned plane is determined
The snakelike road widths planned in operating area；Snakelike work route width has determined, feeds back to AUTONOMOUS TASK path rule
It needs to be determined that the place of operation starting point, makes work route starting point take off or return on the boundary of planning and apart from unmanned plane in drawing
Boundary have half of working width, so that the work route distance of contexture by self is waited the distance on each boundary in operating area is also half
A working width.Certainly, when planning the operation course line, consider that external influence factor does course line and operation covering radius
It disturbs, such as the offset that wind speed generates operation covering radius, it is fed back, is adjusted, such as measure existing continuous southeaster
Speed is 1 to 2 grades, and empirically whole southeastward direction deviates the working path of UAV flight control unit contexture by self
1.5 meters, for 3 grades or more and fitful wind unmanned plane not operation.
As shown in Fig. 2, the invention also discloses a kind of autonomous path planning apparatus of plant protection drone, including unmanned plane,
It further include the flight control computer unit being arranged on unmanned plane, wireless communication module, image capture module, navigation module, measurement
Module and memory.
On the one hand flight control computer unit is used to handle image capture module boundary information collected, according to boundary profile
Contexture by self acquires path, on the other hand for the contexture by self generation working path in borderline region, meanwhile, flight control computer
Unit is also used to control the flight of unmanned plane.
Wireless communication module, operational order unmanned plane transmitted for receiving the hand held controller at winged hand end or nobody
The information exchange of machine and ground control terminal.
Image capture module uses onboard high-speed CCD camera and image processing apparatus, for acquiring to operation plot
The image information of acquisition is simultaneously transmitted to flight control computer unit by image information, makes unmanned plane can be certainly in flight operation process
Main identification boundary of land block, locality block boundary information, and send flight control computer cell processing to.
Navigation module, navigation module use one of global position system GPS and carrier phase difference technology RTK or two
Kind, for providing high-precision location information for unmanned plane.
Measurement module uses the radar or ultrasonic meter of measuring height and distance, for measuring unmanned plane elevation information and inciting somebody to action
Elevation information is sent to flight control computer unit, provides support for contexture by self route.
Memory is made of the storage chip of multiple large capacities, for system storage program instruction, boundary of land block letter
Breath and the working path information of contexture by self etc..
Modules in the autonomous path planning apparatus of plant protection drone provide under the domination of flight control computer unit
Flight control computer unit is served in various supports, is finally reached good contexture by self path function.
Finally, it is stated that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, this field is common
Other modifications or equivalent replacement that technical staff makes technical solution of the present invention, without departing from technical solution of the present invention
Spirit and scope, be intended to be within the scope of the claims of the invention.
Claims (8)
1. a kind of autonomous paths planning method of plant protection drone, it is characterised in that: the following steps are included:
A, the takeoff point of plant protection drone is selected on pre- operating area boundary；
B, plant protection boundary flight route is planned, plant protection drone flies according to boundary flight route and obtains the side to operating area
Boundary graphics field information, detailed process is as follows:
B1: determining the unit length L in shooting plot every time according to the image pickup scope of the loaded video camera of plant protection drone, and definition is planted
Protecting unmanned plane i-th section of plot captured by the flight path is plot Ai；
B2: planning plot AiFlight path；Detailed process is as follows:
B2.1: plant protection drone takes off and acquires plot AiPlot image Pi, i=1,2 ..., n；
B2.2: by plot image PiImage division is carried out according to different types of landform, obtains plot image PiIt is corresponding to operation
Zone boundary information Qi；
B2.3: it has been flown over obtained by route and step b2.2 according to plant protection drone to operating area boundary information Qi, plan i+1
Section plot Ai+1Pre- flight path；
B2.4: plant protection drone is according to the prepared plot A of step b2.3i+1Pre- flight path fly to i+1 section plot,
And acquire plot Ai+1Plot image Pi+1；
B3: repeating step b2, until plant protection drone returns to takeoff point；
B4: unmanned plane returns to takeoff point, forms border image area: when unmanned plane returns to flight starting point, what unmanned plane during flying was crossed
The border image area that one complete enclosed region of path formation, i.e. unmanned plane wait for operation；
C, the working path according to the job parameter information planning plant protection drone of unmanned plane in the graphics field of boundary.
2. the autonomous paths planning method of plant protection drone according to claim 1, it is characterised in that: as plot AiFor ground
When head turning position, detailed process is as follows by the step b2.3:
1): route having been flown over according to plant protection drone and to operating area boundary information QiPlan a plurality of i+1 section plot Ai+1's
Pre- flight path；
2): the image information and a plurality of i+1 section plot A that plant protection drone is acquired in real timei+1Pre- flight path be sent to it is winged
Hand end；
3): one of i+1 section plot A is selected in winged pickingi+1Pre- flight path be plant protection drone flight path；
4) plant protection drone carries out the flight of i+1 section plot according to the route that step 3) is selected.
3. the autonomous paths planning method of plant protection drone according to claim 1, it is characterised in that: the step C's
Detailed process are as follows:
C1: plant protection drone flight working width is calculated according to unmanned plane job parameter information using contexture by self algorithm；Nobody
Machine operation parameter information includes unmanned plane distance away the ground and unmanned machine operation covering radius；
C2: plant protection drone operation starting point and takeoff heading are determined；The operation starting point is set to on the boundary of operating area, and away from
Take off from unmanned plane or back course where frontier distance have half of working width, the course of the work route starting point and nobody
Initial route direction is consistent when machine acquires boundary；
C3: the snakelike work route figure in the graphics field of boundary is formulated according to plant protection drone flight working width；The snake
Shape work route is constituted by a plurality of straight line path is end to end, and every straight line path and neighbouring straight line path distance are equal to unmanned plane
Operation covering radius.
4. the autonomous paths planning method of plant protection drone according to claim 3, it is characterised in that: the step c1's
Unmanned plane job parameter information further includes extraneous affecting parameters, and extraneous affecting parameters include the wind direction of operating area, wind speed and wet
Degree.
5. a kind of autonomous path planning apparatus of plant protection drone, including unmanned plane, it is characterised in that: further include:
Flight control computer unit, for handling image capture module boundary information collected, according to boundary profile contexture by self
Flight path, contexture by self generates working path and control unmanned plane during flying in borderline region；
Wireless communication module, the operational order or unmanned plane unmanned plane transmitted for receiving winged hand end and ground control station
Information exchange；
Image capture module, for acquiring the image information to operation plot and being transmitted to flight control computer unit；
Navigation module, for providing location information for unmanned plane and carrying out information exchange with flight control computer unit；
Measurement module, for measuring unmanned plane elevation information and elevation information being sent to flight control computer unit；
Memory, for storing the boundary of land block information of unmanned plane acquisition and the working path information of planning；
The flight control computer unit, wireless communication module, image capture module, navigation module, measurement module and memory are equal
It is arranged on unmanned plane.
6. the autonomous path planning apparatus of plant protection drone according to claim 5, it is characterised in that: described image acquisition
Module uses onboard high-speed CCD camera and image processing apparatus.
7. the autonomous path planning apparatus of plant protection drone according to claim 5, it is characterised in that: the navigation module
Using global position system GPS and carrier phase difference technology RTK.
8. the autonomous path planning apparatus of plant protection drone according to claim 5, it is characterised in that: the measurement module
Using the radar or ultrasonic meter of measuring height and distance.
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| CN114167891A (en) * | 2021-11-29 | 2022-03-11 | 湖南汽车工程职业学院 | Ground data acquisition and processing system based on unmanned aerial vehicle |
| CN114415656A (en) * | 2021-12-03 | 2022-04-29 | 广州极飞科技股份有限公司 | Unmanned equipment multi-plot job processing method, device, equipment and storage medium |
| CN115421503A (en) * | 2022-09-22 | 2022-12-02 | 中铁八局集团第一工程有限公司 | Unmanned aerial vehicle inspection system for bridge |
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